Figure 5.

For the 30 grippers identified in this review: (a) Number of new grippers per year (1996–2021), grouped by color per type of actuation selected. Solid lines represent the cumulative number of grippers for a given type of actuation over the years. The black dashed line represents the cumulative number of grippers over time. (b) Number of new grippers per year, grouped by color per selected technology among mixed, soft, or rigid. Solid lines represent the cumulative number of grippers for a given type of technology over the years. The black dashed line represents the cumulative number of grippers over time. (c) Number of grippers tested in each environment: tank in a research laboratory, pool or sea, and mounted on a ROV.